Vehicle lighting with redundant control

ABSTRACT

A lighting system of a vehicle may include light units and controllers for operating the light units. Each light unit is multifunctional in that the light unit may operate in various modes, which may be invoked at different times under varying circumstances. A light unit on the first end of a vehicle may operate as a headlight if the first end is the front end of the vehicle. On the other hand, the light unit may operate as a tail light if the first end is the rear end of the vehicle. Furthermore, the light unit may operate as a turn signal in either direction or brake light while the first end is the rear end of the vehicle. The light unit includes a lens array positioned to receive light from various light sources. The lighting system may operate in a fashion that allows for lighting redundancy on each end of the vehicle in the event of a lighting controller failure.

BACKGROUND

Vehicles typically have multiple different types of lights to illuminatethe exterior and/or interior of the vehicle. For example, vehiclescommonly include headlights, a tail lights, turn signal lights, reverselights, and a dome light. In general, exterior lights may be used toilluminate at least a portion of an environment around the vehicle, toincrease a visibility of the vehicle to others in the environment,and/or to provide a signal function to visually convey an action to betaken by a driver (e.g., braking, turning, reversing, etc.). Interiorlights may illuminate at least a portion of an interior of the vehicleto allow occupants to view the interior of the vehicle. Each type ofconventional vehicle light is specially configured to perform a specificfunction. For instance, conventional headlights are specially configuredto irradiate light to a front side of the vehicle to secure a visualfield of a driver, while conventional brake lights are speciallyconfigured to emit light from a rear of the vehicle when a driveractivates a brake pedal of the vehicle. Conventional headlights are notsuitable for use as brake lights, and vice versa.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description is described with reference to the accompanyingfigures. In the figures, the left-most digit of a reference numberidentifies the figure in which the reference number first appears. Thesame reference numbers in different figures indicate similar oridentical items.

FIG. 1 is a schematic side view of an example vehicle with various lightunits.

FIG. 2 is a schematic top view of the example vehicle with the variouslight units.

FIG. 3 is a front view of an example multi-functional light unit.

FIG. 4 is a front view of another example multi-functional light unit.

FIG. 5 is an exploded perspective view of an example multi-functionallight unit.

FIG. 6 is a block diagram illustrating functionality of variouscomponents of an example lighting system.

FIG. 7 is a block diagram illustrating an architecture of an examplelighting system including multiple lighting controllers providingbidirectional redundancy.

FIG. 8 is a block diagram of an example system for implementingmulti-function light units, control systems, and techniques as describedherein.

DETAILED DESCRIPTION

This disclosure relates to light units, a lighting system, andtechniques for controlling a lighting system of a vehicle. The lightingsystem includes one or more light units and one or more controllers foroperating the light units.

Each of the light units of the lighting system may perform among aplurality of lighting functions (whether required by law or not), whichmay comprise, among other things, a headlight or a tail light for thevehicle, turn signals, reverse lights, brake lights, high-beams, fogs,and the like. In other words, such a light unit is multifunctional inthat the light unit may operate in multiple modes, which may be invokedat different times under varying circumstances. For example, a lightunit on the first end of a vehicle may operate as a headlight when thefirst end is the front end of the vehicle. On the other hand, the lightunit may operate as a tail light when the first end is the rear end ofthe vehicle. Furthermore, the light unit may operate as a rear turnsignal or brake light when the first end is the rear end of the vehicle.

In some implementations, the light unit includes a lens array positionedto receive light from various light sources. For example, a first lightsource may be a white light source and a second light source may be ared light source. Such light sources may be semiconductor light sourcessuch as light emitting diodes (LEDs). Different portions of the lensarray may be positioned to receive light from respective light sources.For example, a first portion of the lens array may be positioned toreceive white light from one or more white light LEDs, and a secondportion of the lens array may be positioned to receive red light fromone or more red light LEDs. The first portion of the lens array maycomprise lenslets (e.g., small lenses) that collimate portions of thelight (e.g., the white light) toward the exterior of the vehicle toserve as backup (or reverse) lights, for example. The second portion ofthe lens array may comprise lenslets that collimate the red light towardthe exterior of the vehicle to serve as brake lights, for example.

In at least some examples, the vehicle comprises a first end and asecond end that is opposite the first end. In a first direction oftravel, the first end may be the leading or front end of the vehicle andthe second end may be the trailing or rear end of the vehicle. In asecond direction of travel, opposite the first direction, the second endmay be the leading or front end of the vehicle and the first end may bethe trailing or rear end of the vehicle. In various embodiments, alighting system of the vehicle may be configured to operate in a fashionthat allows for lighting redundancy on each end of the vehicle. Forexample, a first controller may operate a light unit on each end of thevehicle and a second controller may operate other light units on eachend of the vehicle. Thus, if one of the controllers fails to properlyoperate its respective light units, the other (properly functioning)controller can continue to operate so that at least one light unit oneach end of the vehicle remains operable. Accordingly, safety of thevehicle is improved since both ends of the vehicle are visible via theoperable light units and are able to perform the minimum number ofrequired lighting indications for street operations (e.g., braking,headlamps, turn signals, and the like).

For example, such a lighting system may include a first light unit onthe first end of the vehicle, a second light unit on the first end ofthe vehicle, a third light unit on a second end of the vehicle, and afourth light unit on the second end of the vehicle. The lighting systemmay further include a first controller configured to operate the firstand the third light units. Moreover, the lighting system may include asecond controller configured to operate the second and fourth lightunits. For example, the first controller may be communicatively coupledto the first light units and the second controller may becommunicatively coupled to the second light units. In an examplesituation, in response to a failure of the first light controller toproperly operate, the second light controller may be configured tooperate the second light unit on the first end of the vehicle tofunction as the headlight while operating the fourth light unit on thesecond end of the vehicle to function as the tail light. Moreover, inresponsive to a failure of the second light controller to properlyoperate, the first light controller may be configured to operate thefirst light unit on the first end of the vehicle to function as theheadlight while operating the third light unit on the second end of thevehicle to function as the tail light. In such situations, the vehiclemay continue travelling so that the first end of the vehicle is theleading end or, alternatively, the vehicle may reverse direction so thatthe vehicle is travelling so that the first end of the vehicle is theleading end. In either case, lighting redundancy on each end of thevehicle allows for a headlight and a tail light to be operable on eitherend of the vehicle.

As described above, the light units may be multifunctional in that eachof the light units may operate in various modes, which may be invoked atdifferent times under varying circumstances. Accordingly, each of thefirst and second controllers may be configured to operate theirrespective light units to operate in any of the various modes. Forexample, the first controller may be configured to operate the firstlight unit on the first end of the vehicle to function as the headlightwhile operating the third light unit on the second end of the vehicle tofunction as the tail light. Simultaneously, if both controllers areproperly functioning, the second controller is configured to operate thesecond light unit on the first end of the vehicle to function as theheadlight while operating the fourth light unit on the second end of thevehicle to function as the tail light. As indicated above, if one of thecontrollers is not functioning properly, the other controller canmaintain one headlight and one tail light on each respective end of thevehicle.

By way of example and not limitation, a vehicle, as described herein,may include a body module, a first drive module coupled to a first endof the body module, and a second drive module coupled to a second end ofthe body module. The body module also includes a vehicle computingdevice to control operation of the vehicle. A first light controller maybe located on the first end of the body module proximate the first drivemodule and a second light controller may be located on the second end ofthe body module proximate the second drive module. The first lightcontroller may be physically separated from the second light controller.For example, the first light controller may be disposed closer to thefirst end of the vehicle than to the second end of the vehicle, and thesecond light controller may be disposed closer to the second end of thevehicle than to the first end of the vehicle. In other examples, thelight controllers may be coupled to or incorporated in the respectivedrive modules. For instance, the first light controller may be coupledor be part of the first drive module and the second light controller maybe coupled to or be part of the second drive module.

FIG. 1 is a schematic side view of a vehicle 100 with various lightunits 102A, 102B, 102C, and 102D (collectively “light units 102”). FIG.2 is a schematic top view of vehicle 100, which is illustrated to alsoinclude various other lighting 104. In other examples, the light units102A, 102B, 102C, and 102D and/or the other lighting 104 may be locatedat locations of vehicle 100 other than what is indicated in FIGS. 1 and2. In some examples, vehicle 100 may be an autonomous vehicle configuredto operate according to a Level 5 classification issued in 2016 by theU.S. National Highway Traffic Safety Administration, for example, whichdescribes a vehicle capable of performing all safety-critical functionsfor an entire trip, with the driver (or occupant) not being expected tocontrol the vehicle at any time. In that case, since the vehicle may beconfigured to control all functions from start to stop, including alllighting functions, it may be unoccupied. This is merely an example,however, and the systems and methods described herein may beincorporated into any ground-borne vehicle, including those that aremanually driven by a human and those that are partially autonomouslycontrolled, such that they can be autonomously controlled without driverattention or assist during certain driving conditions, such as, forexample, while operating on limited-access highways, but such that theyrequire driver attention and/or assistance during other drivingconditions, such as, for example, while operating on city streets inurban areas, or during at least some parking functions.

Vehicle 100, as an example, is an automobile having four wheels/tires106. Other types and configurations of vehicles are contemplated, suchas, for example, vans, sport utility vehicles, crossover vehicles,trucks, buses, agricultural vehicles, and construction vehicles. Vehicle100 may be powered by one or more internal combustion engines, electricmotors powered by one or more power supplies (e.g., batteries, hydrogenfuel cells, etc.), or any combination thereof. In addition, althoughvehicle 100 is illustrated to have four wheels/tires 106, the systemsand methods described herein may be incorporated into vehicles havingfewer or a greater number of wheels, tires, and/or tracks. Vehicle 100has four-wheel steering and may operate generally with equal performancecharacteristics in all directions, for example, such that a first end108 of vehicle 100 is the front end of the vehicle when traveling in afirst direction, and such that the first end 108 becomes the rear end ofthe vehicle when traveling in the opposite, second direction, asillustrated in FIGS. 1 and 2. Similarly, a second end 110 of the vehicleis the front end of the vehicle when traveling in the second direction,and the second end 110 becomes the rear end of the vehicle whentraveling in the opposite, first direction. These examplecharacteristics may facilitate greater maneuverability, for example, insmall spaces or crowded environments, such as parking lots and urbanareas. Thus, because of a bi-directionality of vehicle 100, each oflight units 102 may operate as a headlight sometimes while operating asa tail light, brake light, turn signal, and so on, at other times.

Portions of vehicle 100 may be identified as quadrant portions Q1, Q2,Q3, and Q4, as illustrated in FIG. 2. Thus, first end 108 includesquadrant portions Q1 and Q2 and second end 110 includes quadrantportions Q3 and Q4.

In some examples, vehicle 100 may include a primary executive motionunit (EMU) (not illustrated in FIGS. 1 and 2) and a secondary EMUconnected to various electrical and mechanical components of the vehiclevia a suitable communications network (e.g., a controller area network(CAN), or any other suitable wired or wireless communication). Theprimary EMU and secondary EMU may be redundant and provide redundantsignals when operating properly. In other words, both EMUs can have thesame functions and capabilities and be capable of independent control ofvehicle 100. In some examples, identical input from both EMUs may beused for a particular action to provide a functionality check.

In other examples, the secondary EMU can take a “back-up” role and mayhave reduced functionality and/or complexity in comparison to theprimary EMU. Thus, a failure of the primary EMU may trigger a “limp”mode, in which certain functions are deactivated or modified, speed isreduced, and safety thresholds are raised until a repair to the primaryEMU can be performed. For example, such functions may involve operationof respective light units on first and second ends of the vehicle. Insome examples, the limp mode may reduce the vehicle speed cause thevehicle to perform a safe stop or take some other action.

By way of example and not limitation, vehicle 100, as described herein,may include a body module, a first drive module coupled to a first endof the body module, and a second drive module coupled to a second end ofthe body module, as described, for example, in U.S. patent applicationSer. No. 15/674,688, filed Aug. 11, 2017, entitled “Vehicle withInterchangeable Drive Modules”, which is herein incorporated byreference in its entirety. The body module may include a passengercompartment to house one or more passengers. The body module alsoincludes a vehicle computing device to control operation of the vehicle.A first light controller may be coupled or be part of the first drivemodule and a second light controller may be coupled to or be part of thesecond drive module. The first light controller may be physically and/orspatially separated from the second light controller. For example, thefirst light controller may be disposed closer to the first end of thevehicle than to the second end of the vehicle, and the second lightcontroller may be disposed closer to the second end of the vehicle thanto the first end of the vehicle.

In some examples, the first drive module and the second drive module aresubstantially identical, while in other examples they may be differentfrom each other. The first drive module and/or the second drive modulein this example include a drive module frame to which are mounted firstand second wheels, an electric drive motor, a heating ventilation andair conditioning (HVAC) system, and/or one or more exterior lights. Someexterior lights (e.g., light units and other various lights) may belocated on the drive modules. The electric drive motor is coupled to thedrive module frame and to the first and second wheels to drive at leastone of the first and second wheels. The HVAC system is disposed in or onthe drive module frame to provide temperature controlled air to thepassenger compartment of the body module via one or more air ducts orconnections. A power supply is disposed in the drive module andelectrically coupled to the electric drive motor, the HVAC system,and/or the exterior lights to provide power to the electric drive motor,the HVAC system, and/or the exterior lights. The power supply in thedrive module may additionally or alternatively supply power to one ormore components of the body module, such as the first light controller,second light controller, the vehicle computing device, interiorlighting, and/or exterior lighting of the body module. A drive modulecontrol system is communicatively coupled, by wired or wirelessconnection, to the vehicle computing device of the body module. Thedrive module control system is configured to control operation of theelectric drive motor and the HVAC system based at least in part onsignals received from the vehicle computing device. The drive modulecontrol system may include power systems to power, among other things,the vehicle lights (e.g., interior and/or exterior lights of the drivemodules and/or the body module). In some implementations, such powersystems are redundant so that if one fails the other will continue tosupply power to the lights on both drive modules.

Vehicle 100 may include one or more sensors to sense objects surroundingthe vehicle or conditions of the vehicle. These sensors may be locatedon the body module, the drive modules, or some sensors may be located onthe body module while other sensors are located on the drive modules.Examples of sensors that may be included on the body module, the drivemodules, or both include, without limitation, ultrasonic sensors, radarsensors, light detection and ranging (LIDAR) sensors, cameras,microphones, inertial sensors (e.g., inertial measurement units,accelerometers, gyros, etc.), global positioning satellite (GPS)sensors, and the like.

FIG. 3 is a schematic front view of an example light unit 300, which maybe the same as or similar to light units 102 illustrated in FIGS. 1 and2. Light unit 300 includes a white light source 302, and a first supportstructure 304 that includes various LED light sources corresponding toparking lights, direction indicator lights, brake lights, tail lights,and backup lights. White light source 302 may be configured to haveparticular optical characteristics, such as brightness, angulardistribution of intensity, and color temperature, just to name a fewexamples. Such particular optical characteristics may be designed ordetermined based, at least in part, on one or more various (e.g.,government) standards or regulations. For example, distribution ofintensity (e.g., irradiance, illuminance, etc.) of various light outputmay be measured based on the distance standards or regulations. In someexamples, such standards or regulations may set forth a distance of 3meters or 1.2 meters, depending on the particular light function. Insome examples, lower beam/upper beam headlights produced in part fromwhite light source 302 may be measured at a distance of 18.3 meters.

White light source 302 need not be a semiconductor (e.g., LED) source,and instead may be an arc-type lamp, a halogen-type lamp, and so on.While white light source 302 is illustrated in FIG. 3 to have aparticular shape, in other examples the white light source 302 and/orassociated structure (e.g., housing, mirrors, reflectors, etc.) may haveother shapes. For example, white light source 302 and/or other structuremay be circular, square, symmetrical, a point source, an extendedsource, and so on. Light unit 300 also includes a second supportstructure 306 that includes optics positioned to be illuminated by therespective various LED light sources, as described below. Light unit 300also includes a lens array 308 and an outer casing 310.

FIG. 4 is a schematic front view of another example light unit 400,which may be the same as or similar to light unit 300 except that lightunit is substantially circular shaped while light unit 300 issubstantially rectangular. Light unit 400 includes a white light source402, and a first support structure 404 that includes various LED lightsources corresponding to parking lights, direction indicator lights,brake lights, tail lights, and backup lights. White light source 402need not be a semiconductor (e.g., LED) source, and instead may be anarc-type lamp, a halogen-type lamp, and so on. Light unit 400 alsoincludes a second support structure 406 that includes optics positionedto be illuminated by the respective various LED light sources, asdescribed below. Light unit 400 also includes a lens array 408 and anouter casing 410.

FIG. 5 is an exploded perspective view of a portion of light unit 300,which may be located in or near any of quadrants Q1-Q4, illustrated inFIG. 2. Such an exploded perspective view may also be applied to lightunit 400, which has components similar to those of light unit 300,except that such components are generally square shaped instead ofround. In either case, such components may have any of a number ofshapes.

An axis 502 is illustrated to indicate a central axial region of lightunit 300. Herein, the term “central” is not limited to meaning at or ofa center point or central area, but instead is used to indicate ageneral area or location that is substantially central as opposed tobeing at or near an edge, in the context of its use. A housing 504supports white light source 302, used as a main headlight for thevehicle. White light source 302 may be substantially centered about axis502 which, in some cases, may coincide with an optical axis of the whitelight source. In some implementations, white light source 302 may be inanother location relative to first and second support structures, suchas between the two support structures or between the second supportstructure and lens array 308, for example. In such implementations wherethe white light source is in front of (e.g., closer to lens array 308) asupporting structure, such supporting structure need not include acentral opening, such as 506 or 518. Moreover, white light source 302need not actually produce a particular broad spectrum white light andinstead may produce a light spectrum comprising one or more visiblelight bands having a resulting emitted light equivalent to any colortemperature (e.g., including a relatively high amount of “yellow” lightor “blue” light). As mentioned above, white light source 302 may beconfigured to have particular optical characteristics, such asbrightness and angular distribution of brightness, which may be designedor determined based, at least in part, on one or more various standardsor regulations.

First support structure 304 may include central opening 506 that allowslight from white light source 302 to pass and ultimately exit light unit300 through an opening 508 in outer casing 310. First support structure304 includes various LED light sources corresponding to various lightingfunctions such as parking lights, direction indicator lights, brakelights, tail lights, turn indicator lights, and backup lights, just toname a few examples. Such LED light sources may comprise single LEDs,such as LED light source 510, or groups of two or more LEDS, such as LEDlight sources 512A and 512B (e.g., three individual LEDs of lightsources 512A and three individual LEDs of light sources 512B areillustrated in FIG. 5). LED light sources may comprise any number, color(e.g., red, white, amber, and so on), and/or type of individual LEDs. Asillustrated, the LED light sources are in various locations along firstsupport structure 304. In some implementations, the LED light sourcesare arranged concentrically along an inner periphery 514A and an outerperiphery 514B of first support structure 304. In some examples, a firstrow 530 of LED light sources located along the inner periphery 514A maycomprise white LEDs, and a second row 532 of LED light sources along theouter periphery 514B may comprise red LEDs, or vice versa. In someexamples, a third row 534 of amber LED light sources may be disposed onat least a portion of the first support structure 304 and may beinterposed between the first row 530 and the second row 532, may beinboard of the first row 530 or outboard of the second row 532. In someexamples, the third row 534 of LED light sources may be disposed on onlya portion of the first support structure 304 (e.g., a half of thesupport structure that is laterally outboard of the vehicle) and may beused as indicator lights. In other words, the LED light sources may bearranged asymmetrically or partially along the inner periphery 514Aand/or outer periphery 514B of first support structure 304, such as forvarious indicator lights, so that such indicator lights don't form afull circle of illumination. Instead, such indicators lights may form,for example, a semicircle of illumination in a portion of the lightunit. To help dissipate heat generated by the LEDs, first supportstructure 304 may be in thermal contact with a heat sink (notillustrated). In some implementations, first support structure 304 maybe a printed circuit board (PCB) with circuitry for energizing the LEDs.In some implementations, first support structure 304 may comprise asingle continuous structure, while in other implementations firstsupport structure 304 may comprise two or more structures that areassembled into a ring-like configuration (e.g., having an openingsimilar to central opening 506).

Second support structure 516 may include a central opening 518 thatallows light from white light source 302 to pass and ultimately exitlight unit 300 through opening 508 in outer casing 310. Second supportstructure 516 includes various optical components 522 in variouslocations along the second support structure that correspond torespective LED light sources on first support structure 304 of thevarious lighting functions. In other words, each such optical component522 corresponds to a particular LED light source by receiving light fromthat particular LED light source. Optical components 522 and theircorresponding LED light sources are relatively near one another,separated by distances that may be based, at least in part, on opticalcharacteristics of the LED light sources and the optical componentsthemselves. For example, a particular LED may have an inherent focallength that is considered when determining where to locate acorresponding optical component on second support structure and at whatdistance from the LED. Such optical components may be lenses, diffusers,color filters, or polarizers, just to name a few examples. Inparticular, such optical components may operate on a principle of totalinternal reflection and may be called total-internal-reflection (TIR)optics (e.g., TIR lenses). For example, such optics may comprise lensesthat reflect light on internal surfaces of the lenses. In someimplementations, some or all of the optical components 522 may be moldedinto the material of second support structure 516 and may includeoptical coating materials (e.g., antireflection coatings, color filtercoatings, and so on). In other implementations, some or all of theoptical components may be connected onto second support structure 516.In some implementations, second support structure 516 may comprise asingle continuous structure, while in other implementations secondsupport structure 516 may comprise two or more structures that areassembled into a ring-like (e.g., having an opening similar to 518)configuration. In some implementations, second support structure 516 maybe adjustable in rotation and/or translation relative to first supportstructure 304 so that optical performance can be optimized during orafter fabrication of light unit 300.

As mentioned above, each optical component 522 corresponds to aparticular LED light source on first support structure 304. Toillustrate some examples, optical component 522A corresponds to LEDlight source 512A and optical component 522B corresponds to LED lightsource 512B.

Lens array 308 includes a central opening 524 that allows light fromwhite light source 302 to pass and ultimately exit light unit 300through opening 508 in outer casing 310. Lens array also includes setsof lenses, each such lens being referred to as a lenslet (e.g., amicrolens). For example, such sets of lenses, or groups of lenslets, maybe arranged in a fly's eye array configuration and may have opticalproperties or characteristics that may vary for different locations ofthe array. For example, a group of lenslets 526 may have opticalproperties or characteristics appropriate for corresponding opticalcomponent 522A and a group of lenslets 528 may have optical propertiesor characteristics appropriate for corresponding optical component 522B.Such lenslets or groups of lenslets may be “pillow”-shaped to produce asubstantially uniform exit light or may have other lens-like propertiesto collimate light exiting from a corresponding optical component on thesecond support structure 516. Moreover, lenslets or groups of lensletsmay be substantially flat and clear (e.g., a window) to merely passlight from a corresponding optical component on the support structure516. In some implementations, lenslets or groups of lenslets may atleast partially comprise a material that diffuses light upon reflectionor transmission. Such diffusion of light may lead to output from thelight unit of light having a “soft” glow. Such a type of light may beparticularly useful for giving a vehicle visibility, such as forindication lights (e.g., brake lights, turn indication lights, and soon) as opposed to illuminating the environment surrounding the vehicle(e.g., such as one of the functions of headlights and reverse lights).Diffused light from lenslets or groups of lenslets generally results inillumination (e.g., intensity or irradiance) that may be substantiallyuniform at various viewing angles. In some implementations, lens array308 may be adjustable in rotation and/or translation relative to secondsupport structure 516 so that optical performance can be optimizedduring or after fabrication of light unit 300.

FIG. 6 is a block diagram illustrating functionality of variouscomponents of a portion of a lighting system 600 of a vehicle, such asvehicle 100. Lighting system includes a light controller 602 and a lightunit 604. One light unit 604 is illustrated, though lighting system 600may include multiple light units, such as 102A-D illustrated in FIG. 2.Light unit 604 includes a white light source 606, LED light sources 608,labelled as LEDs A-D, and optical components 610, labelled as OpticsA-D. Light unit 604 may include any number of white light sources, LEDlight sources.

Light controller 602 is communicatively (e.g., electronically) coupledto light unit 604 to control white light source 606 and individual (or acombination of) LED light sources 608. In some implementations, lightcontroller 602 may be communicatively coupled to one or more other lightcontrollers, which in turn may be communicatively coupled to a vehiclecontroller that at least partially manages various operations of thevehicle. As discussed above, individual LED light sources correspond todifferent lighting functions, such as turn indicator lights, taillights, brake lights, and backup lights, just to name a few examples.Moreover, the different LED light sources (e.g., 512A and 512B, and soon) correspond to respective different optics (e.g., optical components522) of 610. For some examples, light controller 602 may operate LEDs Ato illuminate optics A (e.g., which may produce amber or red light) toproduce light for a turn indicator, light controller 602 may operateLEDs B to illuminate optics B to produce light for a tail light or brake(e.g., stop) light, light controller 602 may operate LEDs C toilluminate optics C to produce light for a daytime running light orparking light, and light controller 602 may operate LEDs D (e.g., whichmay produce white light) to illuminate optics D to produce light for abackup light. In addition, light controller 602 may activate white lightsource 606, which may comprise a light source and built-in optics, toproduce light of a headlight (e.g., lower beam and upper beamheadlight).

FIG. 7 is a schematic diagram illustrating a lighting system 700 thatincludes various lights and controllers. For example, lighting system700 may be similar to or the same as lighting system 600 and may beimplemented on a bi-directional vehicle, such as vehicle 100, andquadrants Q1-Q4 are labelled as in FIG. 2. Lighting system 700 includeslight controllers that are connected to various lights on the vehiclesuch that a portion of lights on one end of the vehicle are operated byone light controller while a portion of lights on the other end of thevehicle are operated by the other light controller. Such aninterconnected configuration may allow for a degree of redundancy sothat at least some lights are operable on either end of the vehicle, forthe sake of visibility and safety. Physical and/or functional portionsof vehicle 100 may be identified as a first drive module 702, a seconddrive module 704, and a body module 706. Considering suchidentification, a portion of lights are included in first drive module702, another portion of lights are included in second drive module 704,while yet another portion of lights are included in body module 706, asdescribed below.

Lighting system 700 includes a first light controller 708 and a secondlight controller 710 (the designations “first” and “second” aregenerally interchangeable). First light controller 708 and second lightcontroller 710, while both being located in body module 706 in thisexample, may be spatially separated so that second light controller 710is closer than first light controller 708 to a first end (e.g., thatincludes quadrants Q1 and Q2) of the vehicle. In other examples, thefirst light controller 708 and second light controller 710 may bedisposed in or on the first drive module 702 and second drive module704, respectively. Lighting system 700 includes lights as illustrated inFIG. 7. In particular, first light controller 708 is configured tooperate a light unit 712, located on the first end of the vehicle, and alight unit 714 located on a second end (e.g., that includes quadrants Q3and Q4), opposite the first end, of the vehicle. Such light units,similar to or the same as light unit 604, include a relatively brightwhite light having a relatively long throw (e.g., to sufficientlyilluminate a scene in front of the vehicle) and other lightfunctionality such as brake lights, backup lights, and so on, asdescribed above. On the other hand, second light controller 710 isconfigured to operate a light unit 716, located on the first end of thevehicle, and a light unit 718 located on the second end of the vehicle.Thus, if, for example, second light controller 710 fails to properlyoperate, first light controller 708 is available to operate light unit712 on the first end of the vehicle or light unit 714 located on thesecond end of the vehicle. Accordingly, there is an operable light oneach end of the vehicle, even in the case of a light controller failure.Similarly, if first light controller 708 fails to properly operate,second light controller 710 is available to operate light unit 716 onthe first end of the vehicle or light unit 718 located on the second endof the vehicle. Again, there is an operable light on each end of thevehicle, even in the case of a light controller failure.

By way of example and not limitation, vehicle 100, as mentioned above,may include body module 706, first drive module 702 coupled to a firstend of the body module, and second drive module 704 coupled to a secondend of the body module. First light controller 708 may be mounted on orcoupled to the first end of body module 706 and second light controller710 may be mounted on or coupled to the second end of body module 706.First light controller 708 may be spatially separated from second lightcontroller 710. For example, first light controller 708 may be disposedcloser to the first end of the vehicle than to the second end of thevehicle, and second light controller 710 may be disposed closer to thesecond end of the vehicle than to the first end of the vehicle.

First light controller 708 is also configured to operate lights on ornear the first end of the vehicle, such as a side marker light 720, andlicense plate light 722, and to operate lights on or near the second endof the vehicle, including a side marker light 724. Second lightcontroller 710 is also configured to operate lights on or near the firstend of the vehicle, including a side marker light 726, and to operatelights on or near the second end of the vehicle, including a side markerlight 728, and license plate light 730. First light controller 708 isconfigured to operate various lighting 732 (e.g., exterior and interiorlights) located in or on various parts of body module 706 and to operatevarious lighting 734 (e.g., exterior and interior lights) located in oron various parts of second drive module 704. Second light controller 710is configured to operate various lighting 736 (e.g., exterior andinterior lights) located in or on various parts of body module 706 andto operate various lighting 738 (e.g., exterior and interior lights)located in or on various parts of first drive module 702.

To illustrate a particular example, lighting system 700 may includelight units 712 and 716 on the first end of vehicle 100 and light units714 and 718 on the second end of the vehicle. Each of the light units isconfigured to function as a headlight and a tail light, as describedabove. First light controller 708, being communicatively coupled tolight units 712 and 714, is configured to operate light unit 712 tofunction as a headlight while operating light unit 714 to function as atail light. This may be the case if the vehicle's leading (front) end isthe first end. Alternatively, if the vehicle's leading (front) end isthe second end, first light controller 708 is configured to operatelight unit 712 to function as a tail light while operating light unit714 to function as a headlight. Second light controller 710, beingcommunicatively coupled to light units 716 and 718, is configured tooperate light unit 716 to function as a headlight while operating lightunit 718 to function as a tail light. This may be the case if thevehicle's leading (front) end is the first end. Alternatively, if thevehicle's leading (front) end is the second end, second light controller710 is configured to operate light unit 716 to function as a tail lightwhile operating light unit 718 to function as a headlight.

In some implementations, each light controller 708 and 710 can operatelight units in a diagonal configuration with respect to the vehicle(e.g., in a top view of the vehicle). For example, light unit 712 andlight unit 714 may be disposed diagonally from one another, asillustrated, and light unit 716 and light unit 718 may also be disposeddiagonally from one another. In other implementations, each lightcontroller 708 and 710 can operate light units that are on a samelateral side of the vehicle. For example, light unit 712 and light unit718 may be disposed on the same lateral side as each other, counter towhat is illustrated in FIG. 7, and light unit 716 and light unit 714 maybe disposed on the same lateral side as each other.

In some example implementations, lighting system 700 may include lightunit 712 on a first end of a vehicle as identified by quadrants Q1 andQ2. Light unit 712 may comprise a first light source operable as aheadlight and a second light source operable as a tail light, forinstance. Lighting system 700 may further include light unit 714 on asecond end of the vehicle as identified by quadrants Q3 and Q4. Lightunit 714 may comprise a third light source operable as a headlight and afourth light source operable as a tail light. First light controller 708may be communicatively coupled to light unit 712 and light unit 714.First light controller 708 may be configured to control light unit 712to illuminate the first light source operable as the headlight and lightunit 714 to illuminate the fourth light source operable as the taillight when the first end of the vehicle is a leading end (e.g., when thevehicle is moving such that quadrants Q1 and Q2 are leading quadrants Q3and Q4). First light controller may also be configured to control lightunit 712 to illuminate the second light source operable as the taillight and light unit 714 to illuminate the third light source operableas the headlight when the second end of the vehicle is the leading end(e.g., when the vehicle is moving such that quadrants Q3 and Q4 areleading quadrants Q1 and Q2).

In some implementations, first light controller 708 may becommunicatively coupled to second light controller 710. A vehiclecontroller 740 may provide control signals to first light controller 708and another vehicle controller 742 may provide control signals to secondlight controller 710. In some examples, vehicle controller 740 may be anEMU, such as that mentioned above, while vehicle controller 742 may be asecondary or backup EMU, both being connected to various electrical andmechanical components of the vehicle via a suitable communicationsnetwork. Vehicle controller 740 and vehicle controller 742 may providecontrol signals responsive to which direction the vehicle is travelling.Vehicle controller 740 and vehicle controller 742 may provide redundantsignals when operating properly. Accordingly, if one vehicle controllerfails to function properly, the other vehicle controller may providecontrol signals to either first light controller 708 or second lightcontroller 710.

FIG. 8 is a block diagram of a system 800 including an example vehicle802 for implementing light units, as described herein. System may beconfigured to control operation of the vehicle, which may be anautonomous vehicle, and to control various lighting functions.

In some examples, system 800 may include processor(s) 804 and/or memory806. These elements are illustrated in combination in FIG. 8, althoughit is understood that they may be separate elements of system 800, andthat components of the system may be implemented as hardware and/orsoftware, in some examples.

Processor(s) 804 may include a uniprocessor system including oneprocessor, or a multiprocessor system including several processors(e.g., two, four, eight, or another suitable number). Processor(s) 804may be any suitable processor capable of executing instructions. Forexample, in various implementations, processor(s) 804 may begeneral-purpose or embedded processors implementing any of a variety ofinstruction set architectures (ISAs), such as the x86, PowerPC, SPARC,or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, eachprocessor 804 may commonly, but not necessarily, implement the same ISA.In some examples, the processor(s) 804 may include a central processingunit (CPU), a graphics processing unit (GPU), FPGA, Application SpecificIntegrated Circuit (ASIC), or a combination thereof. In some examples,the classifier and/or one or more of the detectors discussed herein maybe implemented using any of these processor architectures. For example,the classifier and/or the one or more detectors may be FPGAs.

System 800 may include memory 806. In some examples, memory 806 mayinclude a non-transitory computer readable media configured to storeexecutable instructions/modules, data, and/or data items accessible byprocessor(s) 804. In various implementations, the non-transitorycomputer readable media may be implemented using any suitable memorytechnology, such as static random access memory (SRAM), synchronousdynamic RAM (SDRAM), nonvolatile/Flash-type memory, or any other type ofmemory. In the illustrated example, program instructions and dataimplementing desired operations, such as those described above, areshown stored within the non-transitory computer readable memory. Inother implementations, program instructions, and/or data may bereceived, sent, or stored on different types of computer-accessiblemedia, such as non-transitory computer readable media, or on similarmedia separate from the non-transitory computer readable media.Generally speaking, a non-transitory, computer readable memory mayinclude storage media or memory media, such as flash memory (e.g., solidstate memory), magnetic or optical media (e.g., a disk) coupled tosystem 800. Program instructions and data stored via a non-transitorycomputer readable medium may be transmitted by transmission media orsignals such as electrical, electromagnetic, or digital signals, whichmay be conveyed via a communication medium such as a network and/or awireless link, such as may be implemented via network interface(s), forexample.

Furthermore, though illustrated as a single unit in FIG. 8, it isunderstood that processor(s) 804 and memory 806 may be distributed amongmultiple computing devices of the vehicle and/or among multiplevehicles, data centers, teleoperation centers, etc. In some examples,processor(s) 804 and memory 806 may conduct at least some of thetechniques discussed herein.

System 800 may include network interface(s) configured to establish acommunication link (i.e., “network”) between the system and one or moreother devices. In various implementations, the network interface(s) maysupport communication via wireless general data networks, such as aWi-Fi network, and/or telecommunications networks, such as, for example,cellular communication networks, satellite networks, and the like. Insome examples, sensor data, such as a received signal, TDOA, depthmeasurement, output signal(s), return(s), and/or detection(s), etc., maybe received at a first vehicle and transmitted to a second computingdevice. In some examples, at least some of the components of the LIDARmay be located at different devices. For example, a first vehicle mayinclude the light emitter and light sensor and may generate the receivedsignal but may transmit the received signal to a second vehicle and/orremote computing device.

System 800 may include one or more drive components 808. In someinstances, the vehicle may have a single drive component. In someinstances, drive component(s) 808 may include one or more sensors todetect conditions of drive component(s) 808 and/or the surroundings ofthe vehicle. Drive component(s) 808 may include many of the vehiclesystems, including a high voltage battery, a motor to propel thevehicle, an inverter to convert direct current from the battery intoalternating current for use by other vehicle systems, a steering systemincluding a steering motor and steering rack (which may be electric), abraking system including hydraulic or electric actuators, a suspensionsystem including hydraulic and/or pneumatic components, a stabilitycontrol system for distributing brake forces to mitigate loss oftraction and maintain control, an HVAC system, lighting (e.g., lightingsuch as head/tail lights to illuminate an exterior surrounding of thevehicle), and one or more other systems (e.g., cooling system, safetysystems, onboard charging system, other electrical components such as aDC/DC converter, a high voltage junction, a high voltage cable, chargingsystem, charge port, etc.). Drive component(s) 808 may include a lightcontroller 810 and lights 812. Light controller 810 may comprise one ormore individual light controllers (e.g., first light controller 708 andsecond light controller 710). Light controller 810 may becommunicatively coupled to one or more other light controllers, which inturn may be communicatively coupled to a vehicle controller 814 that atleast partially manages various operations of the vehicle. For example,vehicle controller 814 may be similar to or the same as either ofvehicle controllers 740 or 742 illustrated in FIG. 7. Lights 812 maycomprise one or more light units that are the same as or similar to anyor all of light units 712-718. Lights 812 may also comprise variousother lighting, such as license plate lights, side marker lights, and soon. Lighting of vehicle 802 may be configured to operate in a fashionthat allows for lighting redundancy on each end of the vehicle, asdescribed above. Accordingly, in some implementations, control of lightsof vehicle 802 may be shared among two or more such light controllers.For example, some lights of the vehicle may be controlled by a firstlight controller while other lights of the vehicle may be controlled bya second light controller. In particular, and as described above, afirst light controller may operate a light unit on each end of thevehicle and a second light controller may operate other light units oneach end of the vehicle. Thus, if one of the light controllers fails toproperly operate its respective light units, the other (properlyfunctioning) light controller can ensure that at least one light unit oneach end of the vehicle remains operable. While some examples hereinshow use of two light controllers, in other examples, three, four, ormore light controllers could be used.

Additionally, drive component(s) 808 may include a drive componentcontroller which may receive and preprocess data from the sensor(s) andto control operation of the various vehicle systems. In some instances,the drive component controller may include one or more processors andmemory communicatively coupled with the one or more processors. Thememory may store one or more components to perform variousfunctionalities of drive component(s) 808. Furthermore, drivecomponent(s) 808 may also include one or more communicationconnection(s) that enable communication by the respective drivecomponent with one or more other local or remote computing device(s).

System 800 may include sensor(s) 816, for example, configured tolocalize the vehicle in an environment, to detect one or more objects inthe environment, to sense movement of the vehicle through itsenvironment, sense environmental data (e.g., ambient temperature,pressure, and humidity), and/or sense conditions of an interior of thevehicle (e.g., passenger count, interior temperature, noise level).Sensor(s) 816 may include, for example, one or more LIDAR sensors, oneor more cameras (e.g. RGB-cameras, intensity (grey scale) cameras,infrared cameras, depth cameras, stereo cameras), one or moremagnetometers, one or more radar sensors, one or more sonar sensors, oneor more microphones, one or more inertial sensors (e.g., accelerometers,gyroscopes), one or more GPS sensors, one or more wheel encoders, one ormore drive system sensors, a speed sensor, and/or other sensors relatedto the operation of the vehicle.

Example Clauses

While the example clauses described above are described with respect toone particular implementation, it should be understood that, in thecontext of this document, the content of the example clauses can also beimplemented via a method, device, system, and/or computer-readablemedium.

A. An example multi-function light unit can switch between functioningas a headlight and functioning as a tail light. One or moremulti-function light units can be disposed on each of a first end and asecond end of a vehicle, such as but not limited to a bidirectionalvehicle. Each multi-function light unit can include optics and lightsources to perform the functions of both headlights and tail lights.Each light unit can change its functions (e.g., between a headlight anda tail light), based on a direction of travel of the vehicle.

B. An example light unit configured to operate as a headlight or a taillight for a vehicle comprises: a headlight light source; a first lightsource corresponding to a backup light; a second light sourcecorresponding to a brake light; first optics positioned to beilluminated by the first light source and second optics positioned to beilluminated by the second light source; and a lens array positioned toreceive light from the first light source and the second light source,the lens array including: a first portion having a first set of lenseshaving first characteristics to operate as the first optics; and asecond portion having a second set of lenses having secondcharacteristics to operate as the second optics.

C. The example light unit of example B, further comprising: a firstsupport structure having a first central opening that allows light fromthe headlight light source to pass, the first supporting structureincluding the first light source and the second light source; and asecond support structure having a second central opening that allows thelight from the headlight light source to pass, the second supportingstructure including first optics positioned to be illuminated by thefirst light source and second optics positioned to be illuminated by thesecond light source.

D. The example light unit of any one of examples B or C, wherein thefirst support structure further includes a third light source; thesecond support structure further includes third optics positioned to beilluminated by the third light source corresponding to a turn signallight, wherein the third optics, in response to receiving light from thethird light source, are configured to illuminate a first peripheralregion of the light unit.

E. The example light unit of any one of examples B-D, wherein the firstlight source comprises one or more white light emitting diodes (LEDs),the second light source comprises one or more red LEDs, and the thirdlight source comprises one or more amber LEDs.

F. The example light unit of any one of examples B-E, wherein theportion of the first optics comprises multiple lenses that reflect lighton internal surfaces of the lenses, and the portion of the second opticscomprises multiple lenses that reflect light on internal surfaces of thelenses.

G. An example method comprising: receiving, in response to a vehicletravelling in a first direction, a first signal to cause a first lightsource to emit light corresponding to a headlight of the vehicle; andreceiving, in response to the vehicle travelling in a direction oppositethe first direction, a second signal to cause a second light source toemit light corresponding to a tail light of the vehicle, and a thirdsignal to cause a third light source to emit light corresponding to abrake light of the vehicle, wherein the second light source and thethird light source are located on a first support structure that isadjacent to a second support structure that includes a portion of firstoptics positioned to be illuminated by the second light source and aportion of second optics positioned to be illuminated by the third lightsource.

H. The example method of example G, further comprising: receiving, inresponse to the vehicle travelling in the direction opposite the firstdirection, a third signal to cause a third light source to emit lightcorresponding to a backup light of the vehicle.

I. The example method of any one of examples G or H, wherein the secondsupport structure is adjacent to a lens array positioned to receivelight from the second light source and the third light source, the lensarray including: a first portion having a first set of lenses havingfirst characteristics to provide the first optics; and a second portionhaving a second set of lenses having second characteristics to providethe second optics, the second characteristics being different than thefirst.

J. The example method of any one of examples G-I, wherein the first setof lenses includes a first particular quantity and distribution of lightdiffusing material or surfaces, and the second set of lenses includes asecond particular quantity and distribution of light diffusing materialor surfaces different than the first particular quantity anddistribution of light diffusing material or surfaces.

K. The example method of any one of examples G-J, wherein the firstcharacteristics include a first focal length to produce a firstintensity distribution of light for the tail light of the vehicle.

L. The example method of any one of examples G-K, wherein the secondcharacteristics include a second focal length to produce a secondintensity distribution of light for the brake light of the vehicle.

M. The example method of any one of examples G-L, wherein the firstlight source comprises a white light source and the second light sourcecomprises one or more red light emitting diodes (LEDs).

N. The example method of any one of examples G-M, wherein the portion ofthe first optics and the portion of the second optics comprise lensesthat reflect light on internal surfaces of the lenses.

O. An example light unit comprises: a first light source configured toemit a first color of light in accordance with a first signal; a secondlight source configured to emit a second color of light in accordancewith a second signal; a first support structure that includes the firstlight source and the second light source; a second support structurethat includes a portion of first optics positioned to be illuminated bythe first light source and a portion of second optics positioned to beilluminated by the second light source; and a lens array positioned toreceive light from the first light source and the second light source,the lens array including: a first portion having a first set of lenseshaving first characteristics to operate as the first optics; and asecond portion having a second set of lenses having secondcharacteristics to operate as the second optics.

P. The example light source of example O, wherein the first set oflenses includes a first particular quantity and distribution of lightdiffusing material or surfaces, and the second set of lenses includes asecond particular quantity and distribution of light diffusing materialor surfaces different than the first particular quantity anddistribution of light diffusing material or surfaces.

Q. The example light source of any one of examples O or P, wherein theportion of the first optics and the portion of the second opticscomprise lenses that reflect light on internal surfaces of the lenses.

R. The example light source of any one of examples O-Q, wherein thefirst support structure further includes a third light source; thesecond support structure further includes: a portion of third opticspositioned to be illuminated by the third light source; and the thirdoptics, in response to receiving light from the third light source, areconfigured to illuminate a first peripheral region of each of the firstlight unit and the second light unit.

S. The example light source of any one of examples O-R, wherein thefirst light source comprises one or more white light emitting diodes(LEDs), the second light source comprises one or more red LEDs, and thethird light source comprises one or more amber LEDs.

T. The example light source of any one of examples O-S, wherein thefirst signal is indicative of a first direction of travel of a vehicleon which the light unit is mounted, and wherein the second signal isindicative of a second direction of travel opposite the first directionof travel.

U. The example light source of any one of examples O-T, wherein thefirst color of light is amber and the first signal comprises a turnindicator signal.

V. In some examples, system-wide control of vehicle lights may beperformed by two separate controllers that offer redundancy in the eventof failure of one of the controllers. The system-wide control may bedirected to front and rear lighting functionality in single light units.Each light controller may control lights on first and second ends of thevehicle. In addition, some of the light units may include optics andpositioning of light sources to implement multiple light functions, suchas in the case of the example multi-function light unit of example A.

W. An example vehicle system comprises: a first light unit on a firstend of a vehicle; a second light unit on the first end of the vehicle; athird light unit on a second end of the vehicle; a fourth light unit onthe second end of the vehicle, wherein each of the first, second, third,and fourth light units is configured to function as a headlight and atail light; a first light controller communicatively coupled to thefirst light unit and the third light unit and configured to: operate thefirst light unit on the first end of the vehicle to function as aheadlight while operating the third light unit on the second end of thevehicle to function as a tail light; or operate the first light unit onthe first end of the vehicle to function as a tail light while operatingthe third light unit on the second end of the vehicle to function as aheadlight; and a second light controller communicatively coupled to thesecond light unit and the fourth light unit and configured to: operatethe second light unit on the first end of the vehicle to function as aheadlight while operating the fourth light unit on the second end of thevehicle to function as a tail light; or operate the second light unit onthe first end of the vehicle to function as a tail light while operatingthe fourth light unit on the second end of the vehicle to function as aheadlight.

X. The example vehicle system of example W, wherein the first light unitand the fourth light unit are disposed on a first lateral side of thevehicle, and the second light unit and the third light unit are disposedon a second lateral side of the vehicle opposite the first lateral side.

Y. The example vehicle system of any one of examples W or X, wherein thefirst light unit and the third light unit are disposed on a firstlateral side of the vehicle, and the second light unit and the fourthlight unit are disposed on a second lateral side of the vehicle oppositethe first lateral side.

Z. The example vehicle system of any one of examples W-Y, wherein: thefirst light controller is configured to operate to control the firstlight unit and the third light unit during a failure of the second lightcontroller to properly operate; and the second light controller isconfigured to operate to control the second light unit and the fourthlight unit during a failure of the first light controller to properlyoperate.

AA. The example vehicle system of any one of examples W-Z, whereinresponsive to the failure of the first light controller to properlyoperate, the second light controller is configured to operate the secondlight unit on the first end of the vehicle to function as the headlightwhile operating the fourth light unit on the second end of the vehicleto function as the tail light; and responsive to the failure of thesecond light controller to properly operate, the first light controlleris configured to operate the first light unit on the first end of thevehicle to function as the headlight while operating the third lightunit on the second end of the vehicle to function as the tail light.

BB. The example vehicle system of any one of examples W-AA, furthercomprising a first set of exterior lights and a second set of exteriorlights, wherein the first light controller is further configured tooperate the first set of exterior lights and the second light controlleris further configured to operate the second set of exterior lights.

CC. An example method comprises: operating, using a first lightcontroller, a first light unit on a first end of a vehicle to functionas a headlight while operating a second light unit on a second end ofthe vehicle to function as a tail light; and operating, using the firstlight controller, the first light unit on the first end of the vehicleto function as a tail light while operating the second light unit on thesecond end of the vehicle to function as a headlight; and operating,using a second light controller, a third light unit on the first end ofa vehicle to function as a headlight while operating a fourth light uniton the second end of the vehicle to function as a tail light; andoperating, using the second light controller, the third light unit onthe first end of the vehicle to function as a tail light while operatingthe fourth light unit on the second end of the vehicle to function as aheadlight.

DD. The example method of example CC, wherein the first light unit andthe fourth light unit are disposed on a first lateral side of thevehicle, and the second light unit and the third light unit are disposedon a second lateral side of the vehicle opposite the first lateral side.

EE. The example method of any one of examples CC or DD, wherein thefirst light unit and the second light unit are disposed on a firstlateral side of the vehicle, and the third light unit and the fourthlight unit are disposed on a second lateral side of the vehicle oppositethe first lateral side.

FF. The example method of any one of examples CC-EE, wherein: the firstlight controller operates independently of the second light controller.

GG. The example method of any one of examples CC-FF, further comprising:in response to a failure of the first light controller to properlyoperate, the second light controller is configured to operate the secondlight unit on the first end of the vehicle to function as the headlightwhile operating the fourth light unit on the second end of the vehicleto function as the tail light; and responsive to the failure of thesecond light controller to properly operate, the first light controlleris configured to operate the first light unit on the first end of thevehicle to function as the headlight while operating the third lightunit on the second end of the vehicle to function as the tail light.

HH. The example method of any one of examples CC-GG, wherein the firstlight controller operates a first set of license plate lights and sidemarker lights and the second light controller operates a second set oflicense plate lights and side marker lights.

II. The example method of any one of examples CC-HH, wherein the firstlight controller is spatially separated from the second lightcontroller.

JJ. The example method of any one of examples CC-II, further comprisingoperating, using the first light controller, the second light unit onthe second end of the vehicle to function as a brake light whileoperating the first light unit on the first end of the vehicle tofunction as the headlight.

KK. An example non-transitory computer-readable medium may storeinstructions that, when executed, cause one or more processors toperform operations comprising: managing a first light controller that isconfigured to: operate a first light unit on a first end of a vehicle tofunction as a headlight while operating a second light unit on a secondend of the vehicle to function as a tail light; and operate the firstlight unit on the first end of the vehicle to function as a tail lightwhile operating the second light unit on the second end of the vehicleto function as a headlight; and managing a second light controller thatis configured to: operate a third light unit on the first end of avehicle to function as a headlight while operating a fourth light uniton the second end of the vehicle to function as a tail light; andoperate the third light unit on the first end of the vehicle to functionas a tail light while operating the fourth light unit on the second endof the vehicle to function as a headlight.

LL. The example non-transitory computer-readable medium of example KK,wherein the first light unit and the fourth light unit are disposed on afirst lateral side of the vehicle, and the second light unit and thethird light unit are disposed on a second lateral side of the vehicleopposite the first lateral side.

MM. The example non-transitory computer-readable medium of any one ofexamples KK or LL, wherein the first light controller is independent ofthe second light controller.

NN. The example non-transitory computer-readable medium of any one ofexamples KK-MM, wherein responsive to the vehicle travelling with thefirst end of the vehicle as a leading end and the second end of thevehicle as a trailing end, the operations further comprise: managing thefirst light controller to operate the first light unit on the first endof the vehicle to function as the headlight while operating the secondlight unit on the second end of the vehicle to function as the taillight; and managing the second light controller to operate the thirdlight unit on the first end of the vehicle to function as the headlightwhile operating the fourth light unit on the second end of the vehicleto function as the tail light, and wherein responsive to the vehiclechanging direction so that the vehicle is travelling with the second endof the vehicle as a leading end and the first end of the vehicle as atrailing end: managing the first light controller to operate the firstlight unit on the first end of the vehicle to function as the tail lightwhile operating the third light unit on the second end of the vehicle tofunction as the headlight; and managing the second light controller tooperate the second light unit on the first end of the vehicle tofunction as the tail light while operating the fourth light unit on thesecond end of the vehicle to function as the headlight.

OO. The example non-transitory computer-readable medium of any one ofexamples KK-NN, wherein the operations further comprise managing thefirst light controller to operate the first set of exterior lights andmanaging the second light controller to operate the second set ofexterior lights.

PP. The example non-transitory computer-readable medium of any one ofexamples KK-OO, wherein the operations further comprise operating thesecond light unit on the second end of the vehicle to function as abrake light operating the first light unit on the first end of thevehicle to function as the headlight.

While the example clauses described above are described with respect toparticular implementations, it should be understood that, in the contextof this document, the content of the example clauses can also beimplemented via a method, device, system, a computer-readable medium,and/or another implementation. Additionally any of examples A-PP may beimplemented alone or in combination with any other one or more of theexamples A-PP.

CONCLUSION

While one or more examples of the techniques described herein have beendescribed, various alterations, additions, permutations and equivalentsthereof are included within the scope of the techniques describedherein.

In the description of examples, reference is made to the accompanyingdrawings that form a part hereof, which show by way of illustrationspecific examples. It is to be understood that other examples can beused and that changes or alterations, such as structural changes, can bemade. Such examples, changes or alterations are not necessarilydepartures from the scope with respect to the intended subject matter.While the steps herein can be presented in a certain order, in somecases the ordering can be changed so that certain inputs are provided atdifferent times or in a different order without changing the function ofthe systems and methods described. The disclosed procedures could alsobe executed in different orders. Additionally, various computations thatare herein need not be performed in the order disclosed, and otherexamples using alternative orderings of the computations could bereadily implemented. In addition to being reordered, the computationscould also be decomposed into sub-computations with the same results.

What is claimed is:
 1. A vehicle system comprising: a first light uniton a first end of a vehicle; a second light unit on the first end of thevehicle; a third light unit on a second end of the vehicle; a fourthlight unit on the second end of the vehicle, wherein each of the first,second, third, and fourth light units is configured to function as aheadlight and a tail light; a first light controller communicativelycoupled to the first light unit and the third light unit and configuredto: operate the first light unit on the first end of the vehicle tofunction as a headlight while operating the third light unit on thesecond end of the vehicle to function as a tail light; or operate thefirst light unit on the first end of the vehicle to function as a taillight while operating the third light unit on the second end of thevehicle to function as a headlight; and a second light controllercommunicatively coupled to the second light unit and the fourth lightunit and configured to: operate the second light unit on the first endof the vehicle to function as a headlight while operating the fourthlight unit on the second end of the vehicle to function as a tail light;or operate the second light unit on the first end of the vehicle tofunction as a tail light while operating the fourth light unit on thesecond end of the vehicle to function as a headlight.
 2. The vehiclesystem of claim 1, wherein the first light unit and the fourth lightunit are disposed on a first lateral side of the vehicle, and the secondlight unit and the third light unit are disposed on a second lateralside of the vehicle opposite the first lateral side.
 3. The vehiclesystem of claim 1, wherein the first light unit and the third light unitare disposed on a first lateral side of the vehicle, and the secondlight unit and the fourth light unit are disposed on a second lateralside of the vehicle opposite the first lateral side.
 4. The vehiclesystem of claim 1, wherein: the first light controller is configured tooperate to control the first light unit and the third light unit duringa failure of the second light controller to properly operate; and thesecond light controller is configured to operate to control the secondlight unit and the fourth light unit during a failure of the first lightcontroller to properly operate.
 5. The vehicle system of claim 4,wherein responsive to the failure of the first light controller toproperly operate, the second light controller is configured to operatethe second light unit on the first end of the vehicle to function as theheadlight while operating the fourth light unit on the second end of thevehicle to function as the tail light; and responsive to the failure ofthe second light controller to properly operate, the first lightcontroller is configured to operate the first light unit on the firstend of the vehicle to function as the headlight while operating thethird light unit on the second end of the vehicle to function as thetail light.
 6. The vehicle system of claim 1, further comprising a firstset of exterior lights and a second set of exterior lights, wherein thefirst light controller is further configured to operate the first set ofexterior lights and the second light controller is further configured tooperate the second set of exterior lights.
 7. A method comprising:operating, using a first light controller, a first light unit on a firstend of a vehicle to function as a headlight while operating a secondlight unit on a second end of the vehicle to function as a tail light;and operating, using the first light controller, the first light unit onthe first end of the vehicle to function as a tail light while operatingthe second light unit on the second end of the vehicle to function as aheadlight; and operating, using a second light controller, a third lightunit on the first end of a vehicle to function as a headlight whileoperating a fourth light unit on the second end of the vehicle tofunction as a tail light; and operating, using the second lightcontroller, the third light unit on the first end of the vehicle tofunction as a tail light while operating the fourth light unit on thesecond end of the vehicle to function as a headlight.
 8. The method ofclaim 7, wherein the first light unit and the fourth light unit aredisposed on a first lateral side of the vehicle, and the second lightunit and the third light unit are disposed on a second lateral side ofthe vehicle opposite the first lateral side.
 9. The method of claim 7,wherein the first light unit and the second light unit are disposed on afirst lateral side of the vehicle, and the third light unit and thefourth light unit are disposed on a second lateral side of the vehicleopposite the first lateral side.
 10. The method of claim 7, wherein thefirst light controller operates independently of the second lightcontroller.
 11. The method of claim 7, further comprising: in responseto a failure of the first light controller to properly operate, thesecond light controller is configured to operate the second light uniton the first end of the vehicle to function as the headlight whileoperating the fourth light unit on the second end of the vehicle tofunction as the tail light; and responsive to the failure of the secondlight controller to properly operate, the first light controller isconfigured to operate the first light unit on the first end of thevehicle to function as the headlight while operating the third lightunit on the second end of the vehicle to function as the tail light. 12.The method of claim 7, wherein the first light controller operates afirst set of license plate lights and side marker lights and the secondlight controller operates a second set of license plate lights and sidemarker lights.
 13. The method of claim 7, wherein the first lightcontroller is spatially separated from the second light controller. 14.The method of claim 7, further comprising operating, using the firstlight controller, the second light unit on the second end of the vehicleto function as a brake light while operating the first light unit on thefirst end of the vehicle to function as the headlight.
 15. Anon-transitory computer-readable medium storing instructions that, whenexecuted, cause one or more processors to perform operations comprising:managing a first light controller that is configured to: operate a firstlight unit on a first end of a vehicle to function as a headlight whileoperating a second light unit on a second end of the vehicle to functionas a tail light; and operate the first light unit on the first end ofthe vehicle to function as a tail light while operating the second lightunit on the second end of the vehicle to function as a headlight; andmanaging a second light controller that is configured to: operate athird light unit on the first end of a vehicle to function as aheadlight while operating a fourth light unit on the second end of thevehicle to function as a tail light; and operate the third light unit onthe first end of the vehicle to function as a tail light while operatingthe fourth light unit on the second end of the vehicle to function as aheadlight.
 16. The non-transitory computer-readable medium of claim 15,wherein the first light unit and the fourth light unit are disposed on afirst lateral side of the vehicle, and the second light unit and thethird light unit are disposed on a second lateral side of the vehicleopposite the first lateral side.
 17. The non-transitorycomputer-readable medium of claim 15, wherein the first light controlleris independent of the second light controller.
 18. The non-transitorycomputer-readable medium of claim 15, wherein responsive to the vehicletravelling with the first end of the vehicle as a leading end and thesecond end of the vehicle as a trailing end, the operations furthercomprise: managing the first light controller to operate the first lightunit on the first end of the vehicle to function as the headlight whileoperating the second light unit on the second end of the vehicle tofunction as the tail light; and managing the second light controller tooperate the third light unit on the first end of the vehicle to functionas the headlight while operating the fourth light unit on the second endof the vehicle to function as the tail light, and wherein responsive tothe vehicle changing direction so that the vehicle is travelling withthe second end of the vehicle as a leading end and the first end of thevehicle as a trailing end: managing the first light controller tooperate the first light unit on the first end of the vehicle to functionas the tail light while operating the second light unit on the secondend of the vehicle to function as the headlight; and managing the secondlight controller to operate the third light unit on the first end of thevehicle to function as the tail light while operating the fourth lightunit on the second end of the vehicle to function as the headlight. 19.The non-transitory computer-readable medium of claim 15, wherein theoperations further comprise managing the first light controller tooperate a first set of exterior lights and managing the second lightcontroller to operate a second set of exterior lights.
 20. Thenon-transitory computer-readable medium of claim 15, wherein theoperations further comprise operating the second light unit on thesecond end of the vehicle to function as a brake light operating thefirst light unit on the first end of the vehicle to function as theheadlight.